Merge branch 'master' into events

.devcontainer/Dockerfile

@@ -1,11 +1,24 @@
+# Base image for toolchain download
+FROM mcr.microsoft.com/devcontainers/rust:latest as toolchain
+
+RUN mkdir -p /toolchain && \
+    curl -L "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi.tar.xz" \
+    | tar --strip-components=1 -xJ -C /toolchain
+
+# Final image
 FROM mcr.microsoft.com/devcontainers/rust:latest
 
+# Copy the toolchain from the previous stage
+COPY --from=toolchain /toolchain /toolchain
+
+ENV PATH="${PATH}:/toolchain/bin"
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get upgrade -y && apt-get install -y cmake pkg-config libusb-1.0-0-dev libftdi1-dev libudev-dev libssl-dev
 
-# Install ARM GCC deps
-RUN mkdir -p toolchain && \
-    curl -L "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi.tar.xz" \
-    | tar --strip-components=1 -xJ -C toolchain && \
-    cargo install --locked probe-rs --features cli
-ENV PATH="${PATH}:/toolchain/bin"
+# Necessary system packages
+RUN apt-get update && apt-get install -y cmake pkg-config libusb-1.0-0-dev libftdi1-dev libudev-dev libssl-dev && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install Rust crates
+RUN cargo install probe-rs --features cli \
+    && cargo install cargo-make

.github/workflows/clippy.yml

@@ -19,6 +19,8 @@ jobs:
           components: clippy
           toolchain: stable
           target: thumbv7em-none-eabihf
+      - name: cargofmt
+        run: cargo fmt --check
       - uses: actions/cache@v3
         with:
           path: |
@@ -31,3 +33,4 @@ jobs:
       - uses: actions-rs/clippy-check@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
+

.gitignore

@@ -1,4 +1,5 @@
 /target
 /.vscode/.cortex-debug.registers.state.json
 /.vscode/.cortex-debug.peripherals.state.json
-/.vscode/settings.json
+/.vscode/settings.json
+/toolchain

README.md

@@ -1,5 +1,6 @@
 # HYDRA   [![Build Status]][actions] [![docs-badge]][docs]
-*HYper Dynamic Rocketry Avionics*
+
+***HY**per **D**ynamic **R**ocketry **A**vionics*
 
 [Build Status]: https://github.com/uorocketry/hydra/actions/workflows/build.yml/badge.svg
 [actions]: https://github.com/uorocketry/hydra/actions?query=branch%3Amaster
@@ -12,46 +13,60 @@
 
 ## Getting Started
 
-1. Install Rust: https://www.rust-lang.org/tools/install
-2. Build: `cargo build`
-3. Install probe-run: `cargo install --git https://github.com/uorocketry/probe-run`
-    - `probe-run` currently requires a patch to flash our chip, so please use the above version while the patch is upstreamed
-4. Install cargo-make: `cargo install cargo-make`
-4. Flash: `cargo run --bin main`
-5. Run tests: `cargo make test-host` or `cargo make test-device`
+> If you are in a DevContainer skip to step 5.
+
+- Install Rust: https://www.rust-lang.org/tools/install
+- Install necessary build tools:
+  - cargo-make: `cargo install cargo-make`
+  - probe-rs: `cargo install probe-rs --features cli`
+- Install the [ARM GNU Toolchain](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads) (last tested with 13.2) and have it available in your PATH
+  - Arch Linux: `sudo pacman -S arm-none-eabi-gcc`
+  - Alpine/Debian/Ubuntu: <https://pkgs.org/download/gcc-arm-none-eabi>
+  - MacOS: `brew install arm-none-eabi-gcc`
+- Build: `cargo build`
+  - In case it fails, try `cargo build --release`
+- Run tests:
+  - In the host machine: `cargo make test-host`
+  - In the device: `cargo make test-device`
+- Flash on hardware: `cargo run --bin main`
 
 For more detailed instructions on flashing, debugging, and more, please see [the wiki](https://avwiki.uorocketry.ca/en/Avionics/HYDRA/Software).
 
 ## Windows Users
 
 ### Setting up with Docker
-1. Install Docker: https://docs.docker.com/desktop/install/windows-install/
-2. Install VS Code: https://code.visualstudio.com/download
-3. From VS Code, install the "Dev Containers" extension
-4. press `ctrl` + `shift` + `p`, and search for `Dev Containers: Open Folder in Container`
+
+- Install [Docker](https://docs.docker.com/desktop/install/windows-install/)
+- Install [VS Code](https://code.visualstudio.com/download)
+- From VS Code, install the "Dev Containers" extension
+- press `ctrl` + `shift` + `p`, and search for `Dev Containers: Open Folder in Container`
 
 ### Setting up with WSL
-1. Enable WSL: https://learn.microsoft.com/en-us/windows/wsl/install
-2. Install a linux distro from the Microsoft Store
-4. Install ARM GNU Toolchain: https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads
+
+- Enable WSL: https://learn.microsoft.com/en-us/windows/wsl/install
+- Install a linux distro from the Microsoft Store
+- Install the [ARM GNU Toolchain](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads)
   - NOTE: You may find this in your distro's package manager, but ensure it is version 13.2.
   - Ubuntu has an outdated version in its repositories. If using Ubuntu, download it manually from the link above
-3. Follow the rest of the instructions in [Getting Started](#-getting-started)
+- Follow the rest of the instructions in [Getting Started](#-getting-started)
 
 ### Flashing
+
 After plugging in J-Link, it will likely show up as unknown.
+
 1. Install Zadig: https://zadig.akeo.ie/
 2. From Zadig, select J-Link as the device and WinUSB as the driver
 3. click Install Driver
 
 If using WSL or Docker with a WSL backend (you probably are), you need to tell Windows to share J-Link with WSL.
-1. From WSL, install linux-tools-generic
-  1. on Ubuntu: `sudo apt install linux-tools-generic`
-2. Install usbipd-win: https://github.com/dorssel/usbipd-win/releases
-3. Open command prompt/powershell with admin privileges and run `usbipd list`
-4. Make note of the entry called J-Link and run `usbipd bind --busid <busid>`
-5. Next, run `usbipd attach --wsl --busid <busid>`
-6. You can now follow the flashing instructions in [Getting Started](#-getting-started)
+
+- From WSL, install linux-tools-generic
+  - on Ubuntu: `sudo apt install linux-tools-generic`
+- Install usbipd-win: https://github.com/dorssel/usbipd-win/releases
+- Open command prompt/powershell with admin privileges and run `usbipd list`
+- Make note of the entry called J-Link and run `usbipd bind --busid <busid>`
+- Next, run `usbipd attach --wsl --busid <busid>`
+- You can now follow the flashing instructions in [Getting Started](#getting-started)
 
 ## Documentation
 
@@ -60,6 +75,7 @@ Run `cargo doc --open` to build and open the documentation. Most documentation f
 Documentation is also automatically built and deployed to https://hydra-docs.uorocketry.ca/common_arm
 
 ## Project Structure
+
 The project is structured in a way to allow reuse of the code across various boards and other projects.
 
 - `boards`: Folder containing each individual board's binary crates. Any code in those crates should only contain logic specific to the board.

boards/beacon/src/types.rs

@@ -1,7 +1,7 @@
-use messages::sender::Sender;
-use messages::sender::Sender::BeaconBoard;
+use messages::node::Node;
+use messages::node::Node::BeaconBoard;
 
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static COM_ID: Sender = BeaconBoard;
+pub static COM_ID: Node = BeaconBoard;

boards/camera/src/communication.rs

@@ -103,8 +103,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor filter"));

boards/camera/src/types.rs

@@ -1,5 +1,5 @@
-use messages::sender::{Sender, Sender::CameraBoard};
+use messages::node::{Node, Node::CameraBoard};
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static _COM_ID: Sender = CameraBoard;
+pub static _COM_ID: Node = CameraBoard;

boards/communication/src/communication.rs

@@ -120,34 +120,31 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::RecoveryBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Recovery filter"));
 
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::sender::Sender::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor filter"));
 
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::PowerBoard.into()).unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::PowerBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Power filter"));
 
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::GroundStation.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Ground Station filter"));

boards/communication/src/types.rs

@@ -1,13 +1,13 @@
 use atsamd_hal::gpio::*;
 use atsamd_hal::sercom::uart::EightBit;
 use atsamd_hal::sercom::{uart, IoSet1, Sercom5};
-use messages::sender::Sender;
-use messages::sender::Sender::CommunicationBoard;
+use messages::node::Node;
+use messages::node::Node::CommunicationBoard;
 
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static COM_ID: Sender = CommunicationBoard;
+pub static COM_ID: Node = CommunicationBoard;
 
 // -------
 // Ground Station

boards/power/src/communication.rs

@@ -108,7 +108,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::sender::Sender::CommunicationBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::CommunicationBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })

boards/power/src/types.rs

@@ -1,5 +1,5 @@
-use messages::sender::{Sender, Sender::PowerBoard};
+use messages::node::{Node, Node::PowerBoard};
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static _COM_ID: Sender = PowerBoard;
+pub static _COM_ID: Node = PowerBoard;

boards/recovery/src/communication.rs

@@ -111,8 +111,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor Board filter"));
@@ -121,7 +120,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::sender::Sender::CommunicationBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::CommunicationBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })

boards/recovery/src/data_manager.rs

@@ -8,6 +8,9 @@ use messages::Message;
 
 const MAIN_HEIGHT: f32 = 876.0; // meters ASL
 const HEIGHT_MIN: f32 = 600.0; // meters ASL
+const RECOVERY_DATA_POINTS: u8 = 8; // number of barometric altitude readings held by the recovery
+                                    // algorithm
+const RECOVERY_TIMER_TIMEOUT: u8 = 15; // minutes
 
 pub struct DataManager {
     pub air: Option<Air>,
@@ -16,8 +19,11 @@ pub struct DataManager {
     pub imu: (Option<Imu1>, Option<Imu2>),
     pub utc_time: Option<UtcTime>,
     pub gps_vel: Option<GpsVel>,
-    pub historical_barometer_altitude: HistoryBuffer<(f32, u32), 8>,
+    pub historical_barometer_altitude: HistoryBuffer<(f32, u32), 8>, // RECOVERY_DATA_POINTS (issue
+    // when putting as const)
     pub current_state: Option<RocketStates>,
+    // each tick represents a minute that passed
+    pub recovery_counter: u8,
 }
 
 impl DataManager {
@@ -32,11 +38,12 @@ impl DataManager {
             gps_vel: None,
             historical_barometer_altitude,
             current_state: None,
+            recovery_counter: 0,
         }
     }
     /// Returns true if the rocket is descending
     pub fn is_falling(&self) -> bool {
-        if self.historical_barometer_altitude.len() < 8 {
+        if (self.historical_barometer_altitude.len() as u8) < RECOVERY_DATA_POINTS {
             return false;
         }
         let mut buf = self.historical_barometer_altitude.oldest_ordered();
@@ -56,14 +63,14 @@ impl DataManager {
                     avg_sum += slope;
                     prev = i;
                 }
-                match avg_sum / 7.0 {
+                match avg_sum / (RECOVERY_DATA_POINTS as f32 - 1.0) {
                     // 7 because we have 8 points.
                     // exclusive range
                     x if !(-100.0..=-5.0).contains(&x) => {
                         return false;
                     }
                     _ => {
-                        info!("avg: {}", avg_sum / 7.0);
+                        info!("avg: {}", avg_sum / (RECOVERY_DATA_POINTS as f32 - 1.0));
                     }
                 }
             }
@@ -82,8 +89,8 @@ impl DataManager {
             None => false,
         }
     }
-    pub fn is_landed(&self) -> bool {
-        if self.historical_barometer_altitude.len() < 8 {
+    pub fn is_landed(&mut self) -> bool {
+        if self.historical_barometer_altitude.len() < RECOVERY_DATA_POINTS.into() {
             return false;
         }
         let mut buf = self.historical_barometer_altitude.oldest_ordered();
@@ -99,13 +106,15 @@ impl DataManager {
                     avg_sum += (i.0 - prev.0) / time_diff;
                     prev = i;
                 }
-                match avg_sum / 7.0 {
+                match avg_sum / (RECOVERY_DATA_POINTS as f32 - 1.0) {
                     // inclusive range
                     x if (-0.25..=0.25).contains(&x) => {
-                        return true;
+                        if self.recovery_counter >= RECOVERY_TIMER_TIMEOUT {
+                            return true;
+                        }
                     }
                     _ => {
-                        // continue
+                        self.recovery_counter = 0;
                     }
                 }
             }
@@ -132,11 +141,12 @@ impl DataManager {
             messages::Data::Sensor(sensor) => match sensor.data {
                 messages::sensor::SensorData::Air(air_data) => {
                     /*
-                                           NOTE!!!
-                                           There should be added a counter to check how many times
-                                           the alt is dropped, if the number is high switch to
-                                           the on board barometer.
-                    git                     */
+
+                       NOTE!!!
+                       There should be added a counter to check how many times
+                       the alt is dropped, if the number is high switch to
+                       the on board barometer.
+                    */
 
                     if let Some(alt) = air_data.altitude {
                         let tup_data: (f32, u32) = (alt, air_data.time_stamp);